[The Lucas]

Originally Posted by rjn

void Autonomous(void)
{
int move, othermove;

//printf("Time=%lu", Get_Time( ));

if ((rc_dig_in01 + rc_dig_in02 + rc_dig_in03 + rc_dig_in04) > 1)
{
rc_dig_in01 = rc_dig_in02 = rc_dig_in03 = rc_dig_in04 = 0;
}

I am pretty sure you cant assign digital outputs (rc_dig_in0x) to zero. Digital inputs are not variables, they are alias to input ports on the microcontroller and I am pretty sure if you set them as input, you cant write that register. So what is probably happening is all digital inputs are 1 (and not getting zerod) and move is being set to 1 (since that is first in else if block). Move if ((rc_dig_in01 + rc_dig_in02 + rc_dig_in03 + rc_dig_in04) > 1) {} to the first statement in the "move setting" else if block. Also you IR sensor is probably not hooked up correctly if you are getting all 1s.

Also it would be better if you declared move as static (static int move) and removed othermove. A static int never gets destroyed so it will keep its value from one loop to the other.